The purpose of this paper is to present an actuator fault detection method for unmanned aerial vehicles (UAVs) based on interval observer and extended state observer.

    Design/methodology/approach

    The proposed algorithm has very little model dependency. Therefore, a six-degree-of-freedom linear equation of UAVs is first established, and then, combined with actuator failure and external disturbances in flight control, a steering gear model with actuator failure (such as stuck bias and invalidation) is designed. Meanwhile, an extended state observer is designed for fault detection. Moreover, a fault detection scheme based on interval observer is designed by combining fault and disturbances.

    Findings

    The method is testified on the extended state observer and the interval observer under the failure of the steering gear and bounded disturbances. The simulation results show that the two types of fault detection schemes designed can successfully detect various types of faults and have high sensitivity.

    Originality/value

    This research paper studies the failure detection scheme of the UAVs’ actuator. The fault detection scheme in this paper has better performance on actuator faults and bounded disturbances than using regular fault detection schemes.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fault detection based on extended state observer and interval observer for UAVs


    Beteiligte:
    Cao, Lijia (Autor:in) / Yang, Xu (Autor:in) / Wang, Guoqing (Autor:in) / Liu, Yang (Autor:in) / Hu, Yu (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    06.05.2022


    Format / Umfang :

    1 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Fault Diagnosis of Clustered UAVs Based on Intermediate Observer

    Zhang, Ziwang / Shen, Jian / Zhu, Qingyu et al. | Springer Verlag | 2025


    Extended state observer-based fault detection and recovery for flywheels

    Lei, J. / Shijie, X. | British Library Online Contents | 2008


    An Improved Active Flux Observer Based on Linear Extended State Observer

    Li, Bowen / Zhang, Xiaokang / Wang, Fei | IEEE | 2024


    Disturbance Observer-Based Integral Backstepping Control for UAVs

    Moeini, Amir / Rafique, Muhammad Awais / Xue, Zhijun et al. | IEEE | 2020


    Event-Triggered Extended State Observer

    Shi, Dawei / Huang, Yuan / Wang, Junzheng et al. | Springer Verlag | 2021